EP0077985B1 - Navigation method using dead reckoning - Google Patents

Navigation method using dead reckoning Download PDF

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Publication number
EP0077985B1
EP0077985B1 EP19820109540 EP82109540A EP0077985B1 EP 0077985 B1 EP0077985 B1 EP 0077985B1 EP 19820109540 EP19820109540 EP 19820109540 EP 82109540 A EP82109540 A EP 82109540A EP 0077985 B1 EP0077985 B1 EP 0077985B1
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Prior art keywords
drift
course
journey
dead reckoning
determined
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EP19820109540
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German (de)
French (fr)
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EP0077985A3 (en
EP0077985A2 (en
Inventor
Harald Dipl.-Ing. Gielen
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Rockwell Collins Deutschland GmbH
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Teldix GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning

Definitions

  • the invention relates to a dead reckoning method for determining the target position of a vehicle, according to the preamble of the first claim.
  • a method is known from DE-A-28 05 628, in which the position of a vehicle is calculated using a dead reckoning calculation from the direction signals of a course gyro and the path signals of a path sensor. However, this position is distorted by the unknown drift of the course gyro. Furthermore, an additional coupling calculation determines a vehicle position that is subject to a certain predetermined drift or pseudo drift.
  • the object of the invention is to provide a simple method for precise position determination, in which no knowledge of the area traveled is required.
  • the north direction can be obtained, for example, from the signals of a so-called north-searching gyroscope, as is used in particular in navigation systems.
  • the north accuracy achieved with this is an essential feature of this gyroscope and allows very precise navigation of the vehicle.
  • an earth field probe can be used to determine the north direction. This is often used in conjunction with an odometer for determining the position of road vehicles, such as. B. Ambulance applied.
  • a steering angle sensor is provided, which provides a direction signal during the disturbance times.
  • this direction signal is subject to drift like a course gyro. Especially when cornering, there is a significant drift error that falsifies the position indicator. This drift is in an embodiment of the invention according to the relationship
  • a N is the difference angle measured after the disturbance between the north direction angle of the vehicle determined at the beginning and the end of the measurement, a course change of the vehicle of course not being included in this angle. This angle is divided by the distance S N covered during the measurements.
  • the time between the last two measurements is used as the division factor, since the drift of the course gyro is a function of time and independent of the distance traveled.
  • This method is essentially suitable for smaller differential angles or drifts. Larger deviations are not common due to the high accuracy requirements for navigation systems. It is well known to compensate for the portion of the drift of a course gyroscope which is dependent on the rotation of the earth and the latitude by simple means. As a result, it is only interesting to determine the undetermined parts of the drift and thereby improve the position display. However, this method can also be used to compensate for the entire gyro drift.
  • the vehicle is initially at a known position P o and that the heading angle of the vehicle is also known.
  • the coordinates N o , E o of this position and the heading angle 8 are entered in the navigation computer in a known manner. If the vehicle now begins its journey through the terrain, the coupling calculation is carried out in the usual way, by means of which the distances covered and course changes are continuously evaluated and the coordinates of the respective location are determined, albeit falsified by a drift error.
  • the respective location can be displayed on a map device, for example.
  • the distance A between the points P o -P s represents the actual travel distance of the vehicle.
  • a straight route was chosen for the sake of simplicity, but of course each is any route possible.
  • the location display in a map device describes the distance B between the points P o -P J ' since the indicated course experiences a directional deviation due to the unknown drift of the course gyroscope. This deviation is integrated over time and requires the displayed position coordinates to be corrected at certain intervals.
  • a further vehicle position is continuously determined, which corresponds to the distance C between the points P o -Pp.
  • This route is obtained by a course calculation with a so-called pseudo drift, which adds up to the unknown gyro drift.
  • a travel time T / Nt N which can be chosen as desired or is determined automatically on the basis of various criteria, and after which the vehicle has reached the point P s , the course angle is determined anew. This is done by a north search using a gyrocompass or an earth field probe.
  • the course angle determined here corresponds in the exemplary embodiment to the starting course angle due to the straight course A.
  • the location or position display shows a position P j , which is distorted by the gyro drift and contains a heading angle 8 + ⁇ N.
  • a third position indicator Pp is obtained from the calculation of the positions with a pseudo-drift.
  • the unknown drift D N of the course gyroscope is now calculated according to the relationship in a first calculation
  • the coordinate values for the actual location of the vehicle can be obtained as follows: after reshaping, the east value of the coordinate value sought results in the north value is calculated in the same way
  • the behavior of the drifts can of course also be represented using the formula (1) as the ratio of the drift angles a N , ap, the angle ⁇ N according to the relationship and the angle ap according to the relationship is to be determined.
  • a F is the angle that is displayed as the vehicle direction with respect to the north direction
  • a FP is the angle between the north direction and the vehicle direction that is distorted by the pseudo drift.
  • the angle 8 is the heading angle, ie the actual angle between the vehicle direction and the north direction.
  • the drift D N determined here can be used as a basis for determining the position, a new position correction being carried out after a further travel time using the same method. With this method it is possible to monitor the drift behavior of the course gyro and to continuously improve the position display.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Description

Die Erfindung betrifft ein Koppelnavigationsverfahren zur Bestimmung der Sollposition eines Fahrzeugs, gemäß dem Oberbegriff des ersten Patentanspruchs.The invention relates to a dead reckoning method for determining the target position of a vehicle, according to the preamble of the first claim.

Aus der DE-A-28 05 628 ist ein Verfahren bekannt, bei welchem mit einer Koppelnavigationsrechnung aus den Richtungssignalen eines Kurskreisels und den Wegsignalen eines Weggebers die Position eines Fahrzeugs berechnet wird. Diese Position ist jedoch durch die unbekannte Drift des Kurskreisels verfälscht. Weiterhin wird in einer zusätzlichen Koppelrechnung eine mit einer bestimmten vorgegebenen Drift bzw. Pseudodrift behaftete Fahrzeugposition bestimmt.A method is known from DE-A-28 05 628, in which the position of a vehicle is calculated using a dead reckoning calculation from the direction signals of a course gyro and the path signals of a path sensor. However, this position is distorted by the unknown drift of the course gyro. Furthermore, an additional coupling calculation determines a vehicle position that is subject to a certain predetermined drift or pseudo drift.

Um nun die unbekannte Drift des Kurskreisels zu ermitteln und somit bei der weiteren Bestimmung der tatsächlichen Position des Fahrzeugs diese möglichst genau zu bestimmen, ist es erforderlich, eine bekannte Position anzufahren und aus dem Verhältnis der Abstände der angezeigten Positionen und der tatsächlichen Position des Fahrzeugs und den Richtungswinkeln dieser Positionen zur Nordrichtung die Korrekturrechnung durchzuführen.In order to determine the unknown drift of the course gyro and thus determine the actual position of the vehicle as accurately as possible, it is necessary to approach a known position and from the ratio of the distances between the displayed positions and the actual position of the vehicle and perform the correction calculation using the directional angles of these positions to the north direction.

Dieses Verfahren ist jedoch nur dann möglich, wenn Kenntnisse über den ungefähren Standort und insbesondere die Koordinaten bestimmter Bezugspunkte vorhanden sind.However, this procedure is only possible if there is knowledge of the approximate location and in particular the coordinates of certain reference points.

Im unbekannten Gelände oder beispielsweise bei schlechten Sichtverhältnissen, die ein Auffinden eines Bezugspunktes verhindern, kann eine Driftbestimmung und damit eine Positionskorrektur nicht durchgeführt werden.In unknown terrain or, for example, in poor visibility conditions that prevent a reference point from being found, a drift determination and thus a position correction cannot be carried out.

Aufgabe der Erfindung ist es, ein einfaches Verfahren zur genauen Positionsbestimmung anzugeben, bei welchem keine Kenntnisse über das befahrene Gelände benötigt werden.The object of the invention is to provide a simple method for precise position determination, in which no knowledge of the area traveled is required.

Diese Aufgabe wird bei einem Verfahren des eingangs genannten Art durch die im Kennzeichen des ersten Patentanspruchs angegebenen Merkmale gelöst.This object is achieved in a method of the type mentioned by the features specified in the characterizing part of the first claim.

Die Nordrichtung kann beispielsweise aus den Signalen eines sogenannten nordsuchenden Kreisels, wie er im besonderen bei Navigationsanlagen verwendet wird, gewonnen werden. Die hiermit erreichte Nordgenauigkeit ist ein wesentliches Merkmal dieses Kreisels und erlaubt ein sehr genaues Navigieren des Fahrzeugs. Für Zwecke, bei denen eine geringe Genauigkeit ausreicht, kann zur Nordrichtungsbestimmung eine Erdfeldmeßsonde angewendet werden. Diese wird häufig in Verbindung mit einem Wegzähler zur Positionsbestimmung von Straßenfahrzeugen, wie z. B. Rettungswagen angewendet.The north direction can be obtained, for example, from the signals of a so-called north-searching gyroscope, as is used in particular in navigation systems. The north accuracy achieved with this is an essential feature of this gyroscope and allows very precise navigation of the vehicle. For purposes where low accuracy is sufficient, an earth field probe can be used to determine the north direction. This is often used in conjunction with an odometer for determining the position of road vehicles, such as. B. Ambulance applied.

Da das Signal z. B. der Erdfeldmeßsonde nicht ständig zur Verfügung steht, sondern durch Störfelder zeitweise beeinflußt wird, ist ein Lenkwinkelgeber vorgesehen, der während den Störzeiten ein Richtungssignal liefert. Dieses Richtungssignal ist jedoch wie bei einem Kurskreisel mit einer Drift behaftet. Insbesondere bei einer Kurvenfahrt entsteht ein erheblicher Driftfehler, der die Positionsanzeige verfälscht. Diese Drift wird in einer Ausgestaltung der Erfindung nach der BeziehungSince the signal z. B. the Erdfeldmeßsonde is not always available, but is temporarily influenced by interference fields, a steering angle sensor is provided, which provides a direction signal during the disturbance times. However, this direction signal is subject to drift like a course gyro. Especially when cornering, there is a significant drift error that falsifies the position indicator. This drift is in an embodiment of the invention according to the relationship

Figure imgb0001
Figure imgb0001

ermittelt.determined.

Hierbei ist aN der nach der Störung gemessene Differenzwinkel zwischen dem zu Beginn und dem zu Ende der Messung festgestellten Nordrichtungswinkel des Fahrzeugs, wobei natürlich eine Kursänderung des Fahrzeugs nicht in diesem Winkel enthalten ist. Dieser Winkel wird dividiert durch die während der Messungen zurückgelegten Strecke SN.Here, a N is the difference angle measured after the disturbance between the north direction angle of the vehicle determined at the beginning and the end of the measurement, a course change of the vehicle of course not being included in this angle. This angle is divided by the distance S N covered during the measurements.

Bei der Driftbestimmung eines Kurskreisels wird als Divisionsfaktor die Zeit zwischen den beiden letzten Messungen eingesetzt, da die Drift des Kurskreisels eine Funktion der Zeit und unabhängig vom zurückgelegten Weg ist.When determining the drift of a course gyro, the time between the last two measurements is used as the division factor, since the drift of the course gyro is a function of time and independent of the distance traveled.

Dieses Verfahren ist im wesentlichen für kleinere Differenzwinkel bzw. Driften geeignet. Größere Abweichungen sind jedoch schon aufgrund der hohen Genauigkeitsforderungen an Navigationsanlagen nicht üblich. Es ist hinlänglich bekannt, den von der Erddrehung und von der geographischen Breite abhängigen Anteil der Drift eines Kurskreisels mit einfachen Mitteln zu kompensieren. Hierdurch ist es lediglich interessant, die unbestimmbaren Anteile der Drift zu ermitteln und dadurch die Positionsanzeige zu verbessern. Jedoch läßt sich dieses Verfahren auch zur Kompensation der gesamten Kreiseldrift anwenden.This method is essentially suitable for smaller differential angles or drifts. Larger deviations are not common due to the high accuracy requirements for navigation systems. It is well known to compensate for the portion of the drift of a course gyroscope which is dependent on the rotation of the earth and the latitude by simple means. As a result, it is only interesting to determine the undetermined parts of the drift and thereby improve the position display. However, this method can also be used to compensate for the entire gyro drift.

Die Erfindung wird nachfolgend unter Bezugnahme auf die Zeichnung näher erläutert. Es wird zunächst davon ausgegangen, daß das Fahrzeug zu Beginn an einer bekannten Position Po steht und auch der Kurswinkel des Fahrzeugs bekannt ist. Die Koordinaten No, Eo dieser Position sowie der Kurswinkel 8 sind in bekannter Weise in den Navigationsrechner eingegeben. Beginnt nun das Fahrzeug seine Fahrt durch das Gelände, so wird in gewohnter Weise die Koppelrechnung durchgeführt, durch welche die zurückgelegten Wegstrecken und Kursänderungen ständig ausgewertet werden und die Koordinaten des jeweiligen Standorts, allerdings durch einen Driftfehler verfälscht, bestimmt werden. Der jeweilige Standort kann zum Beispiel in einem Kartengerät angezeigt werden.The invention is explained in more detail below with reference to the drawing. It is initially assumed that the vehicle is initially at a known position P o and that the heading angle of the vehicle is also known. The coordinates N o , E o of this position and the heading angle 8 are entered in the navigation computer in a known manner. If the vehicle now begins its journey through the terrain, the coupling calculation is carried out in the usual way, by means of which the distances covered and course changes are continuously evaluated and the coordinates of the respective location are determined, albeit falsified by a drift error. The respective location can be displayed on a map device, for example.

Die Strecke A zwischen den Punkten Po-Ps stellt die tatsächliche Fahrstrecke des Fahrzeugs dar. Zur einfacheren Darstellung wurde eine gerade Strecke gewählt, selbstverständlich ist jedoch jede beliebige Streckenführung möglich. Die Standortanzeige in einem Kartengerät beschreibt jedoch die Strecke B zwischen den Punkten Po-PJ' da durch die unbekannte Drift des Kurskreisels der angezeigte Kurs eine Richtungsabweichung erfährt. Diese Abweichung wird über der Zeit integriert und erfordert in bestimmten Abständen eine Korrektur der angezeigten Positionskoordinaten. Zusätzlich zu dem Berechnen der Fahrzeugposition aus der driftbehafteten Kursanzeige des Kurskreisels wird ständig eine weitere Fahrzeugposition ermittelt, welche der Strecke C zwischen den Punkten Po-Pp entspricht. Diese Strecke erhält man durch eine Kursberechnung mit einer sogenannten Pseudodrift, die sich zur unbekannten Kreiseldrift aufsummiert. Nach einer Fahrtzeit T/NtN, die beliebig gewählt werden kann oder automatisch anhand verschiedener Kriterien bestimmt wird, und nach der das Fahrzeug bei dem Punkt Ps angelangt ist, wird der Kurswinkel neu ermittelt. Dies geschieht durch einen Nordsuchvorgang mittels eines Kreiselkompasses oder einer Erdfeldmeßsonde. Der hierbei ermittelte Kurswinkel entspricht in dem Ausführungsbeispiel durch den geraden Streckenverlauf A dem Ausgangskurswinkel. Die Standort- bzw. Positionsanzeige zeigt jedoch eine Position Pj an, die durch die Kreiseldrift verfälscht ist und einen Kurswinkel 8 + αN beinhaltet.The distance A between the points P o -P s represents the actual travel distance of the vehicle. A straight route was chosen for the sake of simplicity, but of course each is any route possible. The location display in a map device, however, describes the distance B between the points P o -P J ' since the indicated course experiences a directional deviation due to the unknown drift of the course gyroscope. This deviation is integrated over time and requires the displayed position coordinates to be corrected at certain intervals. In addition to calculating the vehicle position from the course display of the course gyroscope subject to drift, a further vehicle position is continuously determined, which corresponds to the distance C between the points P o -Pp. This route is obtained by a course calculation with a so-called pseudo drift, which adds up to the unknown gyro drift. After a travel time T / Nt N , which can be chosen as desired or is determined automatically on the basis of various criteria, and after which the vehicle has reached the point P s , the course angle is determined anew. This is done by a north search using a gyrocompass or an earth field probe. The course angle determined here corresponds in the exemplary embodiment to the starting course angle due to the straight course A. However, the location or position display shows a position P j , which is distorted by the gyro drift and contains a heading angle 8 + α N.

Aus der Berechnung der Positionen mit einer Pseudodrift erhält man eine dritte Standortanzeige Pp. Die unbekannte Drift DN des Kurskreisels wird nun in einer ersten Berechnung nach der BeziehungA third position indicator Pp is obtained from the calculation of the positions with a pseudo-drift. The unknown drift D N of the course gyroscope is now calculated according to the relationship in a first calculation

Figure imgb0002
Figure imgb0002

bestimmt.certainly.

Die Koordinatenwerte für den tatsächlichen Standort des Fahrzeugs erhält man wie folgt :

Figure imgb0003
nach Umformung ergibt sich der Ostwert des gesuchten Koordinatenwerts zu
Figure imgb0004
in gleicher Weise errechnet sich der Nordwert zu
Figure imgb0005
 The coordinate values for the actual location of the vehicle can be obtained as follows:
Figure imgb0003
 after reshaping, the east value of the coordinate value sought results in
Figure imgb0004
 the north value is calculated in the same way
Figure imgb0005

Das Verhalten der Driften läßt sich natürlich auch unter Verwendung der Formel (1) als Verhältnis der Driftwinkel aN, ap darstellen, wobei der Winkel αN nach der Beziehung

Figure imgb0006
und der Winkel ap nach der Beziehung
Figure imgb0007
zu ermitteln ist. Hierin ist aF der Winkel, der als Fahrzeugrichtung in Bezug auf die Nordrichtung angezeigt wird und aFP der Winkel zwischen der Nordrichtung und der durch die Pseudodrift verfälschte Fahrzeugrichtung. Der Winkel 8 ist der Kurswinkel, d. h., der tatsächliche Winkel zwischen Fahrzeugrichtung und Nordrichtung. Durch Einsetzen der Winkelbeziehungen in die Gleichungen (3) und (4) lassen sich die Koordinatenwerte Es, Ns nach den Beziehungen
Figure imgb0008
Figure imgb0009
 The behavior of the drifts can of course also be represented using the formula (1) as the ratio of the drift angles a N , ap, the angle α N according to the relationship
Figure imgb0006
 and the angle ap according to the relationship
Figure imgb0007
 is to be determined. Here, a F is the angle that is displayed as the vehicle direction with respect to the north direction and a FP is the angle between the north direction and the vehicle direction that is distorted by the pseudo drift. The angle 8 is the heading angle, ie the actual angle between the vehicle direction and the north direction. By inserting the angular relationships into equations (3) and (4), the coordinate values Es, N s can be determined according to the relationships
Figure imgb0008
Figure imgb0009

ermitteln.determine.

Anhand dieser Werte erfolgt eine Korrektur der angezeigten Werte oder der Positionsanzeige auf dem Kartengerät. Für die weitere Fahrstrecke kann nun zur Positionsbestimmung die hierbei ermittelte Drift DN zugrunde gelegt werden, wobei nach einer weiteren Fahrzeit nach dem gleichen Verfahren eine neue Positionskorrektur durchgeführt wird. Anhand dieses Verfahrens ist es somit möglich, das Driftverhalten des Kurskreisel zu überwachen und die Positionsanzeige ständig zu verbessern.These values are used to correct the displayed values or the position display on the map device. For the further travel distance, the drift D N determined here can be used as a basis for determining the position, a new position correction being carried out after a further travel time using the same method. With this method it is possible to monitor the drift behavior of the course gyro and to continuously improve the position display.

Claims (6)

1. A dead reckoning navigation method for determining the desired position of a vehicle after a desired journey has been travelled, in which a dead reckoning is implemented with a drift DN, which is unknown and caused by a course reference device, and at least one other freely chosen pseudo drift Dp and in which the spacings of the positions thus obtained are evaluated, in which, in order to determine the course direction of the course reference device, the north direction is determined at the beginning of the journey, characterised in that in addition the course direction of the course reference device is determined by determining the north direction at the end of the journey, that the co-ordinate values of the desired position Es, Ns are formed according to the relationships :
Figure imgb0015
Figure imgb0016
in which Ej, Nj represent the co-ordinate values obtained by the drift DN of the course reference device and Ep, Np represent the co-ordinate values obtained by the pseudo drift Dp and that the unknown drift DN is determined from the difference aN in the alignments of the course reference device at the beginning and at the end of the journey travelled, which corresponds to the course angle error.
2. A dead reckoning navigation method according to claim 1, characterised in that the drift DN is determined according to the relationship :
Figure imgb0017
in which tN is the travelling time for covering the journey.
3. A dead reckoning navigation method according to claim 1, characterised in that the drift DN is determined according to the relationship :
Figure imgb0018
in which SK is the length of the journey.
4. A dead reckoning navigation method according to claim 1, characterised in that the ratio of the drifts DN/Dp is formed from the direction angles determined according to the relationship :
Figure imgb0019
in which αµ is the angle between the indicated vehicle direction and the north direction at the end of the journey, 8 is the actual angle between the vehicle direction and the north direction at the beginning of the journey and aFP is the angle between the vehicle direction which is made inaccurate by the pseudo drift and the north direction at the end of the journey.
5. A dead reckoning navigation method according to any one of the preceding claims, characterised in that the north direction is determined by means of a gyrocompass.
6. A dead reckoning navigation method according to any one of claims 1 to 5, characterised in that the north direction is ascertained by means of an earth's field measuring probe.
EP19820109540 1981-10-22 1982-10-15 Navigation method using dead reckoning Expired EP0077985B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3141871 1981-10-22
DE3141871 1981-10-22

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EP0077985A2 EP0077985A2 (en) 1983-05-04
EP0077985A3 EP0077985A3 (en) 1985-10-09
EP0077985B1 true EP0077985B1 (en) 1988-07-27

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Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3319859A1 (en) * 1983-06-01 1984-12-06 Teldix Gmbh, 6900 Heidelberg METHOD FOR CORRECTING THE DRIFT OF A Gyro
DE3434895A1 (en) * 1984-09-22 1986-04-03 Teldix Gmbh, 6900 Heidelberg Method for determining a course
GB8501012D0 (en) * 1985-01-16 1985-02-20 Gen Electric Co Plc Automated vehicle drift correction
US5187664A (en) * 1990-11-27 1993-02-16 Eaton-Kenway, Inc. Proportional position-sensing system for an automatic guided vehicle
US5281901A (en) * 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5127486A (en) * 1990-11-23 1992-07-07 Eaton-Kenway, Inc. System for sensing arrival of an automatic guided vehicle at a wire
US5175415A (en) * 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
US5539646A (en) * 1993-10-26 1996-07-23 Hk Systems Inc. Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator
CN111457789B (en) * 2020-03-26 2022-08-19 北京仿真中心 Earth rotation correction method and system in laboratory coordinate system
CN112461250A (en) * 2020-11-16 2021-03-09 北京百度网讯科技有限公司 Vehicle dead reckoning service evaluation method and device, simulation equipment and medium

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DE2136589C3 (en) * 1971-07-22 1980-10-23 Teldix Gmbh, 6900 Heidelberg Arrangement For the alignment of a north-looking roundabout
DE2805628A1 (en) * 1978-02-10 1979-08-16 Teldix Gmbh METHOD OF DETERMINING THE DRIFT OF A GYRO

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EP0077985A2 (en) 1983-05-04

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